US6208912B1 - Assembly for connecting a measuring head to a measuring robot - Google Patents

Assembly for connecting a measuring head to a measuring robot Download PDF

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Publication number
US6208912B1
US6208912B1 US09/321,122 US32112299A US6208912B1 US 6208912 B1 US6208912 B1 US 6208912B1 US 32112299 A US32112299 A US 32112299A US 6208912 B1 US6208912 B1 US 6208912B1
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United States
Prior art keywords
assembly
connecting member
ring nut
supporting means
supporting
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US09/321,122
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English (en)
Inventor
Domenico Russo
Domenico Sola
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Hexagon Metrology SpA
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Brown and Sharpe DEA SpA
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Application filed by Brown and Sharpe DEA SpA filed Critical Brown and Sharpe DEA SpA
Assigned to BROWN & SHARPE DEA SPA reassignment BROWN & SHARPE DEA SPA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: RUSSO, DOMENICO, SOLA, DOMENICO
Application granted granted Critical
Publication of US6208912B1 publication Critical patent/US6208912B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • the present invention relates to an assembly for connecting a measuring head to a measuring robot.
  • the term “measuring head” is used in the widest sense to indicate any unit featuring a measuring stylus, regardless of configuration or number of axes.
  • the term “robot” is used to indicate any unit for moving a measuring head along a number of coordinate axes, regardless of configuration or number of axes.
  • the invention may be used conveniently, but not exclusively, for connecting a two-axis articulated head (sometimes referred to as “wrist”) to a measuring robot.
  • a two-axis articulated head sometimes referred to as “wrist”
  • a measuring head is normally connected to a measuring robot using a connecting assembly comprising a first and a second flange respectively integral with a supporting member of the measuring robot and with the measuring head, and which rest one on the other; and locking means for locking the flanges to each other.
  • the locking means may comprise straightforward screws or more complex locking members requiring a special wrench for assembly and disassembly. Whichever the case, known connecting assemblies require the use of tools to lock and release the head, so that assembling and disassembling the head are relatively long, painstaking jobs.
  • an assembly for connecting a measuring head to a supporting member of a measuring robot comprising:
  • first supporting means carried by said first connecting member
  • said first and said second supporting means define a substantially isostatic constraint between said first and said second connecting member;
  • said locking means comprising a ring nut carried by one of said first and second connecting members and rotating about a respective axis between a first release position permitting relative movement between said first and said second connecting member along said axis of said ring nut, and a second angular lock position;
  • said assembly comprising elastic means interposed between said ring nut and said second connecting member in said second angular lock position of said ring nut to generate an elastic load to keep said first and said second supporting means in contact with each other.
  • said first and said second supporting means define a number of electric switches connected in series and normally closed in the assembly position of the measuring head, so as to define a safety or anticrash system for detecting any collision of the measuring head.
  • FIG. 1 shows an elevation of a measuring head with a connecting assembly in accordance with the teachings of the present invention
  • FIG. 2 shows a larger-scale, partially sectioned view of the connecting assembly according to the invention, and of an associated portion of the measuring head;
  • FIG. 3 shows a section along line III—III in FIG. 2, with parts removed for clarity;
  • FIG. 4 shows a section along line IV—IV in FIG. 2, with parts removed for clarity;
  • FIG. 5 shows a detail of FIG. 3 in a different operating position
  • FIG. 6 shows a section along line VI—VI in FIG. 5;
  • FIG. 7 shows a partial section along line VII—VII in FIG. 3;
  • FIG. 8 shows, schematically, an emergency circuit associated with the FIG. 2 assembly.
  • Number 1 in FIG. 1 indicates as a whole a measuring head for a measuring robot 2 , of which is shown partially a supporting portion 3 .
  • Head 1 comprises in known manner a substantially tubular first body 4 , of axis A, which is connected to supporting portion 3 of robot 2 by an assembly 5 forming the object of the present invention.
  • Head 1 also comprises a second body 6 , which is supported in projecting manner by the first body and is rotated with respect to the first body and about axis A by a first known actuating and control device housed inside first body 4 and not shown by not forming part of the present invention.
  • the second body in turn carries a measuring tool 8 having a stylus 9 .
  • the measuring tool is supported in projecting manner, and is rotated with respect to second body 6 and about an axis B perpendicular to axis A by a second actuating and control device (not shown) housed inside second body 6 .
  • the connecting assembly 5 substantially comprises a fixed annular flange 10 connected rigidly to supporting portion 3 of robot 2 by means of screws 11 ; an annular wall 12 of first body 4 cooperating with fixed flange 10 by means of three angularly equally spaced supports 13 ; and a ring nut 14 carried by fixed flange 10 and rotating between a release position (FIG. 3) —enabling head 1 to be fitted to and removed from supporting portion 3 —and a lock position.
  • Each support 13 is defined by two balls 15 fitted to flange 10 and spaced circumferentially; and by a cylinder 16 , which is fitted to annular wall 12 of first body 4 , with its own axis oriented radially with respect to first body 4 , and which cooperates with and defines respective contact points with the two balls.
  • Balls 15 and cylinders 16 are housed partly inside respective locating seats formed respectively on flange 10 and on wall 12 , and are conveniently fixed by means of adhesive.
  • the three supports 13 combine to define a substantially isostatic constraint between wall 12 and flange 10 , and prevent any movement (translation and rotation) in a plane perpendicular to axis A.
  • wall 12 has a respective radial appendix 20 ; and each appendix 20 carries a supporting cylinder 21 having a radial axis and housed partly inside a respective seat 22 .
  • cylinder 21 is conveniently fixed by means of adhesive.
  • Ring nut 14 (FIG. 3) has a substantially cylindrical lateral wall 23 with outer impressions 24 for easy handling; and an inner annular end wall 25 extending from the axial end of lateral wall 23 opposite the end facing flange 10 .
  • Wall 25 has three cavities 26 (FIG. 4) for the passage of appendixes 20 when head 1 is fitted to flange 10 .
  • Ring nut 14 and flange 10 are secured axially to each other by means of respective inner and outer radial toothings shown more clearly in FIG. 3 .
  • flange 10 comprises an external toothing consisting of a number of, e.g. three, teeth 28 forming gaps 29 , each of a circumferential extension equal to that of each tooth (60° in the example shown).
  • Flange 10 also comprises a continuous circumferential projection 30 (FIG. 2) spaced axially with respect to teeth 28 so as to form, with teeth 28 , seats 31 for the teeth of ring nut 14 .
  • the innner toothing of ring nut 14 comprises a number of teeth 34 equal in number to teeth 28 (e.g. three) but of a smaller circumferential extension to enable ring nut 14 to be fitted axially onto flange 10 by inserting teeth 34 of ring nut 14 through gaps 29 between teeth 28 of flange 10 , and then rotating ring nut 14 so that teeth 34 are superimposed axially on teeth 28 (FIG. 3 ).
  • two threaded pins 35 (only one shown in FIG. 2) are screwed through flange 10 , and interfere with teeth 34 of ring nut 14 to limit the angular travel of teeth 34 between a release position and a lock position and prevent ring nut 14 from being positioned with teeth 34 aligned with gaps 29 and so withdrawn axially.
  • Ring nut 14 has three bend springs 36 for producing the axial load by which to lock head 1 to supports 13 .
  • Springs 36 are leaf springs of curved elongated shape, so as to be housed along annular wall 25 of ring nut 14 . More specifically, each spring 36 has one end 37 fitted to wall 25 by two screws 38 at a supporting region 39 substantially half-way between two cavities 26 , projects along wall 25 —provided, for the purpose, with a respective sunken portion 41 —and terminates with a free end 40 located close to a respective cavity 26 and which, in use, cooperates elastically with a respective supporting cylinder 21 as described in detail later on.
  • Ring nut 14 also has an antirelease device 44 —shown in FIGS. 5 and 6 —substantially comprising a pin 45 with its axis parallel to axis A and fitted in axially-sliding manner adjacent to lateral wall 23 of ring nut 14 .
  • Pin 45 has a circular head 46 of such a diameter as to project radially through a milled portion 47 of lateral wall 23 of ring nut 14 , and is loaded axially by a spring 48 towards flange 10 against which head 46 rests axially.
  • Flange 10 has a circular sunken seat 54 into which head 46 of pin 45 clicks to define the angular lock position of ring nut 14 with respect to flange 10 .
  • connecting assembly 5 comprises a safety system 55 shown schematically in FIG. 8 .
  • System 55 substantially comprises an electric circuit 56 in turn comprising a voltage source 57 for generating a direct reference voltage; three normally-closed switches 58 in series with one another; and a voltage sensor 59 connected to the robot control unit (not shown) and for generating an open-circuit logic 0 signal 60 in the event at least one of switches 58 is open.
  • Each switch 58 is defined by balls 15 and respective cylinder 16 of a respective support 13 . More specifically, balls 15 define a pair of fixed contacts of each switch, and respective cylinder 16 —which is made of conducting material—defines a bridge-contact element for closing the circuit between the respective pair of balls when resting correctly on each ball.
  • Balls 15 are connected electrically by electric cables 61 , which are soldered to the balls and extend through respective holes 62 in flange 10 (FIG. 2 ).
  • Balls 15 are made of conducting material and conveniently insulated with respect to flange 10 , e.g. by means of nonconducting paint only applied to the supporting region and not, obviously, to the region contacting cylinder 16 .
  • Sensor 59 is subjected to the reference voltage and generates a logic 0 signal 60 when all three switches 58 are closed, and is subjected to zero voltage and generates a logic 1 signal when at least one of switches 58 opens.
  • Head 1 is fitted to flange 10 already fitted beforehand with ring nut 14 , which is set to the release position—that is, the position enabling insertion of head 1 —in which cavities 26 of ring nut 14 face respective pairs of balls 15 , so that, as head 1 is inserted, radial appendixes 20 of wall 12 fit axially through cavities 26 of wall 25 of ring nut 14 .
  • ring nut 14 may be rotated manually about 15° clockwise with reference to the FIG. 3 position , so that head 46 of pin 45 clicks inside seat 54 to lock ring nut 14 angularly with respect to flange 10 (FIG. 5 ).
  • the respective free ends 40 of springs 36 contact respective supporting cylinders 21 , and the springs bend elastically to transmit an elastic load to first body 4 to maintain contact between pairs of balls 15 and respective cylinders 16 of supports 13 .
  • At least one of supports 13 loses contact (FIG. 8 )—this being permitted by the flexible axial lock provided for by assembly 5 by virtue of the flexibility of springs 36 —and the interruption in the circuit is detected by sensor 59 which sends an emergency signal 60 to the control unit.
  • Head 1 is disassembled equally rapidly by backing head 46 of pin 45 manually out of seat 54 (operation which can be easily carried out by means of the thumb while gripping ring nut 14 ) and rotating the ring nut in the opposite direction to previously.
  • connecting assembly 5 according to the present invention will be clear from the foregoing description.
  • head 1 is fitted to and removed from the measuring robot quickly and easily by hand with no tools required.
  • supports 13 define an isostatic constraint for ensuring maximum repeat positioning of head 1 with respect to supporting member 3 .
  • supports 13 themselves define respective switches of an emergency anticrash circuit, which function is therefore achieved simply, using a minimum number of dedicated components.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)
  • Monitoring And Testing Of Exchanges (AREA)
  • Numerical Control (AREA)
US09/321,122 1998-05-29 1999-05-27 Assembly for connecting a measuring head to a measuring robot Expired - Lifetime US6208912B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO98A0460 1998-05-29
IT98TO000460A ITTO980460A1 (it) 1998-05-29 1998-05-29 Gruppo di collegamento di una testa di misura ad un robot di misura

Publications (1)

Publication Number Publication Date
US6208912B1 true US6208912B1 (en) 2001-03-27

Family

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Family Applications (1)

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US09/321,122 Expired - Lifetime US6208912B1 (en) 1998-05-29 1999-05-27 Assembly for connecting a measuring head to a measuring robot

Country Status (6)

Country Link
US (1) US6208912B1 (fr)
JP (1) JP4326071B2 (fr)
DE (1) DE19924146C2 (fr)
FR (1) FR2779817B1 (fr)
GB (1) GB2337745B (fr)
IT (1) ITTO980460A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030135227A1 (en) * 1998-03-09 2003-07-17 Chapman Troy J. Anastomosis device and method
US20040186490A1 (en) * 1995-02-24 2004-09-23 Gifford Hanson S. Devices and methods for performing avascular anastomosis
US20050184038A1 (en) * 2003-12-16 2005-08-25 Gerhard Link Collision protection device of a laser processing head
CN103673876A (zh) * 2013-11-12 2014-03-26 上海交通大学 用于白车身尺寸检测的摆动式测量头机器人在线测量系统

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO980460A1 (it) * 1998-05-29 1999-11-29 Brown & Sharpe Dea Spa Gruppo di collegamento di una testa di misura ad un robot di misura
DE10304507B3 (de) * 2003-02-04 2004-10-14 Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge Wechselsystem, insbesondere Werkzeugwechselsystem
US8992113B2 (en) * 2009-06-08 2015-03-31 Re2, Inc. Robust manual connector for robotic arm end effector
DE102011050455B4 (de) 2011-05-18 2020-04-23 Turck Holding Gmbh Sensoranordnung mit zwei gegeneinander drehbaren Gehäuseteilen
CN106403752B (zh) * 2016-08-31 2024-02-13 上海奥林汽车配件有限公司 一种汽车冲压零件的尺寸及位置度快速检测组件
CN111098289B (zh) * 2018-10-26 2024-01-26 南京聚立科技股份有限公司 一种用于排爆机械臂执行器的快换连接装置
CN113560956B (zh) * 2021-08-24 2024-07-09 哈尔滨先锋机电技术开发有限公司 一种新型导线通讯机床测头

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EP0151819A2 (fr) 1984-02-13 1985-08-21 BISIACH & CARRU' S.p.A. Mécanisme automatique pour changement d'outils pour les robots industriels
EP0184568A1 (fr) 1984-11-14 1986-06-11 CENTRE DE RECHERCHES METALLURGIQUES CENTRUM VOOR RESEARCH IN DE METALLURGIE Association sans but lucratif Procédé de marquage superficiel d'un cylindre de laminoir
GB2176136A (en) 1985-06-11 1986-12-17 Dea Spa A device for effecting automatic exchange of measuring tools in a measuring robot or machine
EP0312119A2 (fr) * 1987-10-16 1989-04-19 Nissan Motor Co., Ltd. Robot de mesure tridimensionnel
US4848005A (en) * 1987-02-03 1989-07-18 D.E.A. Digital Electronic Automation S.P.A. Rearrangeable supporting and positioning fixture, particularly for parts measurable on a gauging machine
US4906123A (en) 1988-03-02 1990-03-06 Wes-Tech, Inc. Quick changecoupling system for robotic attachments
JPH0277635A (ja) * 1988-09-14 1990-03-16 Fujitsu Ltd 計測ロボット
JPH02224990A (ja) * 1989-02-23 1990-09-06 Fujitsu Ltd 計測ロボット
JPH02231544A (ja) * 1988-11-02 1990-09-13 Fujitsu Ltd 計測ロボット
EP0429677A1 (fr) * 1989-06-20 1991-06-05 Fujitsu Limited Systeme robotique de mesure
EP0450383A1 (fr) 1990-04-03 1991-10-09 Lebrecht, Horst, Dipl.-Ing (FH) Dispositif de serrage et de centrage
US5105368A (en) * 1990-08-01 1992-04-14 At&T Bell Laboratories Method for improving robot accuracy
EP0508598A2 (fr) 1991-03-12 1992-10-14 Smc Corporation Porte-outil pour un robot industriel
JPH0775906A (ja) 1993-09-09 1995-03-20 Mishima Kosan Co Ltd 自動工具交換装置
JPH1164259A (ja) * 1997-08-26 1999-03-05 Omron Corp 土壌測定用ツール、土壌測定ロボット及びその他の関連装置と方法
JPH1163988A (ja) * 1997-08-22 1999-03-05 Oojisu Soken:Kk 構造物計測システム
GB2337744A (en) * 1998-05-29 1999-12-01 Brown & Sharpe Dea Spa Tool fastening assembly
GB2337745A (en) * 1998-05-29 1999-12-01 Brown & Sharpe Dea Spa Tool changing assembly
JP2000000353A (ja) * 1998-09-18 2000-01-07 Ace Denken:Kk パチンコ機
JP2000008560A (ja) * 1998-06-25 2000-01-11 Matsushita Electric Works Ltd 軒樋装置

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EP0151819A2 (fr) 1984-02-13 1985-08-21 BISIACH & CARRU' S.p.A. Mécanisme automatique pour changement d'outils pour les robots industriels
EP0184568A1 (fr) 1984-11-14 1986-06-11 CENTRE DE RECHERCHES METALLURGIQUES CENTRUM VOOR RESEARCH IN DE METALLURGIE Association sans but lucratif Procédé de marquage superficiel d'un cylindre de laminoir
GB2176136A (en) 1985-06-11 1986-12-17 Dea Spa A device for effecting automatic exchange of measuring tools in a measuring robot or machine
US4706372A (en) * 1985-06-11 1987-11-17 D.E.A. Digital Electronic Automation S.P.A. Device for effecting automatic exchange of measuring tools in a measuring robot or machine
US4848005A (en) * 1987-02-03 1989-07-18 D.E.A. Digital Electronic Automation S.P.A. Rearrangeable supporting and positioning fixture, particularly for parts measurable on a gauging machine
EP0312119A2 (fr) * 1987-10-16 1989-04-19 Nissan Motor Co., Ltd. Robot de mesure tridimensionnel
US4882527A (en) * 1987-10-16 1989-11-21 Nissan Motor Co., Ltd. Three-dimensional measuring robot
US4906123A (en) 1988-03-02 1990-03-06 Wes-Tech, Inc. Quick changecoupling system for robotic attachments
JPH0277635A (ja) * 1988-09-14 1990-03-16 Fujitsu Ltd 計測ロボット
JPH02231544A (ja) * 1988-11-02 1990-09-13 Fujitsu Ltd 計測ロボット
JPH02224990A (ja) * 1989-02-23 1990-09-06 Fujitsu Ltd 計測ロボット
EP0429677A1 (fr) * 1989-06-20 1991-06-05 Fujitsu Limited Systeme robotique de mesure
EP0450383A1 (fr) 1990-04-03 1991-10-09 Lebrecht, Horst, Dipl.-Ing (FH) Dispositif de serrage et de centrage
US5184810A (en) 1990-04-03 1993-02-09 Horst Lebrecht Centering and clamping device
US5105368A (en) * 1990-08-01 1992-04-14 At&T Bell Laboratories Method for improving robot accuracy
EP0508598A2 (fr) 1991-03-12 1992-10-14 Smc Corporation Porte-outil pour un robot industriel
US5243264A (en) 1991-03-12 1993-09-07 Smc Corporation Tool fastening apparatus for industrial robots
JPH0775906A (ja) 1993-09-09 1995-03-20 Mishima Kosan Co Ltd 自動工具交換装置
JPH1163988A (ja) * 1997-08-22 1999-03-05 Oojisu Soken:Kk 構造物計測システム
JPH1164259A (ja) * 1997-08-26 1999-03-05 Omron Corp 土壌測定用ツール、土壌測定ロボット及びその他の関連装置と方法
GB2337744A (en) * 1998-05-29 1999-12-01 Brown & Sharpe Dea Spa Tool fastening assembly
GB2337745A (en) * 1998-05-29 1999-12-01 Brown & Sharpe Dea Spa Tool changing assembly
JP2000008560A (ja) * 1998-06-25 2000-01-11 Matsushita Electric Works Ltd 軒樋装置
JP2000000353A (ja) * 1998-09-18 2000-01-07 Ace Denken:Kk パチンコ機

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Xia et., Attenuation Predictions at Extremely Low Frequencies for Measurement-While Drilling Electromanetic Telementry System, IEEE., pp. 12221228. *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040186490A1 (en) * 1995-02-24 2004-09-23 Gifford Hanson S. Devices and methods for performing avascular anastomosis
US20030135227A1 (en) * 1998-03-09 2003-07-17 Chapman Troy J. Anastomosis device and method
US20050184038A1 (en) * 2003-12-16 2005-08-25 Gerhard Link Collision protection device of a laser processing head
US7157662B2 (en) * 2003-12-16 2007-01-02 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Collision protection device of a laser processing head
CN103673876A (zh) * 2013-11-12 2014-03-26 上海交通大学 用于白车身尺寸检测的摆动式测量头机器人在线测量系统
CN103673876B (zh) * 2013-11-12 2016-05-04 上海交通大学 用于白车身尺寸检测的摆动式测量头机器人在线测量系统

Also Published As

Publication number Publication date
DE19924146C2 (de) 2002-02-07
FR2779817B1 (fr) 2005-02-25
GB9912576D0 (en) 1999-07-28
DE19924146A1 (de) 1999-12-02
FR2779817A1 (fr) 1999-12-17
JP2000035302A (ja) 2000-02-02
GB2337745A (en) 1999-12-01
ITTO980460A1 (it) 1999-11-29
GB2337745B (en) 2002-07-17
JP4326071B2 (ja) 2009-09-02

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